Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

Robinson, Ryan M.; Kothera, Curt S.; Wereley, Norman M.

doi:10.3390/act3020041

Cited by 17 publications

(9 citation statements)

References 42 publications

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“…Stoll et al [185] presented a compliant pneumatic rotary drive unit with three or more working chambers actuated through PAMs for using in human-robot collaborations. Robinson et al [186] developed a robotic arm actuated through artificial muscles for lifting weight in different industrial as well as medical scenarios with the exploration of control algorithm for smoothly and accurately track the desired motions of a manipulator. Brown et al [187] developed the AGAS system, an autonomously controlled deployable airdrop system that consisted of a round parachute and controlled by four PAMs.…”

Section: Industrial Applicationsmentioning

confidence: 99%

“…In the next section, a discussion has been included by summarizing this review and making a conclusion on the development of the PAMs for future prospects. [176]; (c) parallel-kinematic hexapod tool [180]; (d) hybrid robot [181] (e) PAM-activated trailing edge flap [182]; (f) Crawling soft robot [184]; (g) Compliant pneumatic rotary drive unit [185]; (h) Heavy-lift robotic manipulator [186].…”

Section: Industrial Applicationsmentioning

confidence: 99%

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A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

2022

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Pneumatic artificial muscles (PAMs) are soft and flexible linear pneumatic actuators which produce human muscle like actuation. Due to these properties, the muscle actuators have an adaptable compliance for various robotic platforms as well as medical applications. While a variety of possible actuation schemes are present, there is still a need for the development of a soft actuator that is very light-weight, compact, and flexible with high power-to-weight ratio. To achieve this, the development of the PAM actuators has become an interesting topic for many researchers. In this review, the development of the different kinds of PAM available to date are presented along with manufacturing process and the operating principle. The various force models for artificial muscle presented in the literature are broadly reviewed with the constraints. Furthermore, the applications of PAM are included and classified based on the fields of biorobotics, medicine, and industry, along with advanced medical instrumentation. Finally, the needful improvements in terms of the dynamics of the muscle are discussed for the precise control of the PAMs as per the requirements for the applications. This review will be helpful for researchers working in the field of robotics and for designers to develop new type of artificial muscle depending on the applications.

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Section: Industrial Applicationsmentioning

confidence: 99%

Section: Industrial Applicationsmentioning

confidence: 99%

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

2022

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“…Nuchkrua et al [30] designed an intelligent controller based on the fuzzy logic algorithm and traditional PID algorithm, achieving the desirable dynamic performance targets of the system driven by a PAM actuator. Robinson et al [31] designed a fuzzy controller for controlling lift robotic manipulation, responding to large variation of the load over a large range of motion. Wang et al [32] proposed an adaptive fuzzy backstepping control for an anthropomorphic arm system, which ensures the stable and adaptable motion of the system.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Fast Terminal Sliding Mode Controller of Exercise-Assisted Robotic Arm for Elbow Joint Rehabilitation Featuring Pneumatic Artificial Muscle Actuator

Thọ

Trinh

2020

Actuators

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Due to the time-varying nonlinear dynamic, uncertain model and hysteresis characteristics of the pneumatic artificial muscle (PAM) actuator, it is not easy to apply model-based control algorithms for monitoring, as well as controlling, the operation of systems driven by PAM actuators. Hence, the main aim of this work is to propose an intelligent controller named adaptive sliding controller adding compensator (ASC + C) to operate a robotic arm, featuring a pneumatic artificial muscle actuator, which assists rehabilitation exercise of the elbow joint function. The structure of the proposed controller is a combination between the fuzzy logic technique and Proportional Integral Derivative (PID) algorithm. In which, the input of fuzzy logic controller is the sliding surface, meanwhile, its output is the estimated value of the unknown nonlinear function, meaning that the model-based requirement is released. A PID controller works as a compensator with online learning ability and is designed to compensate because of the approximate error and hysteresis characteristic. Additionally, to improve convergence and to obtain stability, a fast terminal sliding manifold is introduced and online learning laws for parameters of the controller are attainted through the stable criterion of Lyapunov. Finally, an experimental apparatus is also fabricated to evaluate control response of the system. The experimental result confirmed strongly the ability of the proposed controller, which indicates that the ASC + C can obtain a steady state tracking error less than 5 degrees and a position response without overshoot.

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“…Owing to its particular structure and materials, PAM has several unique advantages compared to hydraulic and electric actuators, for instance, high power-toweight ratio, compact size, inherent compliance, as well as low cost [3] and [4]. Therefore, PAMs are increasingly used in industrial applications [5] to [7], bionic robots [8] to [10], surgical instruments [11], rehabilitation devices [12] to [14], and so forth.…”

Section: Introductionmentioning

confidence: 99%

Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model

Liu

Zang

Lin

et al. 2017

SV-JME

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Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy. Keywords: asymmetric hysteresis, length/pressure hysteresis, modified Prandtl-Ishlinskii model, pneumatic artificial muscles, recursive least square algorithm Highlights • The length/pressure hysteresis of a single pneumatic artificial muscle is found to be asymmetric and independent of small external load through experimental measurements. • This paper proposes a modified Prandtl-Ishlinskii model composing of two independent asymmetric play operators to characterize the length/pressure hysteresis of the pneumatic artificial muscle. • The parameters of the modified Prandtl-Ishlinskii model is identified quite conveniently using the recursive least mean algorithm. • The proposed model has high accuracy in describing the major hysteresis loop and minor hysteresis loops.

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Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

Cited by 17 publications

References 42 publications

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

An Adaptive Fast Terminal Sliding Mode Controller of Exercise-Assisted Robotic Arm for Elbow Joint Rehabilitation Featuring Pneumatic Artificial Muscle Actuator

Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model

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